Remark 3.1  In the NRF framework, the communication of “internal states”, i.e., states of the plant or of the controller, is expressly averted, leading to distributed implementations that are scalable with respect to the dimension of the plant. This is one of the main contributions of this paper, whereas state-of-the art methods such as [1]}, [2]} are able to generate type (REF ) controller implementations only for stable plants.

